uint32_t get_changed_channel(void) {
    uint32_t retval;
    static uint32_t idr_old = 0;

    uint32_t idr_new = GPIOC->IDR & (LL_GPIO_PIN_6 | LL_GPIO_PIN_7 | LL_GPIO_PIN_8);

    retval = (idr_old ^ idr_new) >> 6;

    if(idr_old > idr_new)
        retval |= 64; //Флаг в удобное место

    idr_old = idr_new;

    return retval;
}

            ctl.yV = 0.25f * mc_conf.mot_param_Vmax;
            ctl.gIsr = ctl.gIs = 0.25f * mc_conf.mot_param_Imax;
            ctl.yS = 0.0f;
            ctl.yph = M_PI - (M_PI / 6.0f);

            tune.routine = tune_routine_hall_setup;
            FOC_change_state(TUN);

            task_wait(1000);//Стабилизация ротора
            get_changed_channel();
            ctl.yS = 1.0f;
            uint32_t count = 3;
            while(count) {
                task_wait(2);
                ret = get_changed_channel();
                if(ret) {
                    ret >>= 1;
                    count--;
                    sect = (ctl.yph + M_PI + (M_PI / 6.0f)) / (M_PI / 3.0f);
                    switch(sect) {
                    case 0:
                        DBG_INFO("HALL_2");
                        hall_map = (ret << 2) & 12;
                        break;
                    case 1:
                        DBG_INFO("HALL_1");
                        hall_map |= (ret << 0) & 3;
                        break;
                    case 2:
                        DBG_INFO("HALL_3");
                        hall_map |= (ret << 4) & 48;
                        hall_map |= ret & 64;
                        break;
                    case 3:
                    case 4:
                    case 5:
                    case 6:
                        DBG_INFO("3,4,5,6");
                        //DBG_ERROR("HALL_CALIB_ERROR");
                        break;
                    }
                }
            }

            FOC_change_state(INI);
            print(" OK.\n");
            printf("hall_map = %d\n", hall_map);